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Number of results: 10
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Abstract

Operating cranes is challenging because payloads can experience large and dangerous oscillations. Anti-sway control of crane payload can be approached by the active methods, such as feedback control, or passive methods. The feedback control uses the feedback measurement of swing vibration to produce the command sent to a motor. The feedback control shows good effectiveness, but conflict with the actions of the human operator is a challenge of this method. The passive method uses the spring-damper to dissipate energy. The passive method does not cause conflict with the human operator but has limited performance. This paper presents the combination of two methods to overcome the disadvantages of each separate one. The passive method is used to improve the efficiency of the feedback method to avoid conflicts with the human operator. The effectiveness of the combination is simulated in a 2D crane model.
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Bibliography


[1] D. Kim and Y. Park. Tracking control in x-y plane of an offshore container crane. Journal of Vibration and Control, 23(3):469-483, 2017. doi: 10.1177/1077546315581091.
[2] D.H. Kim and J.W. Lee. Model-based PID control of a crane spreader by four auxiliary cables. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 220(8):1151-1165, 2006. doi: 10.1243/09544062JMES120.
[3] N. Uchiyama. Robust control of rotary crane by partial-state feedback with integrator. Mechatronics, 19(8):1294-1302, 2009. doi: 10.1016/j.mechatronics.2009.08.007.
[4] J. Smoczek. Fuzzy crane control with sensorless payload deflection feedback for vibration reduction. Mechanical Systems and Signal Processing, 46(1):70–81, 2014. doi: 10.1016/j.ymssp.2013.12.012.
[5] M. Zhang, X. Ma, X. Rong, X. Tian, and Y. Li. Adaptive tracking control for double-pendulum overhead cranes subject to tracking error limitation, parametric uncertainties and external disturbances. Mechanical Systems and Signal Processing, 76-77:15–32, 2016. doi: 10.1016/j.ymssp.2016.02.013.
[6] L.D. Viet and K.T. Nguyen. Combination of input shaping and radial spring-damper to reduce tridirectional vibration of crane payload. Mechanical Systems and Signal Processing, 116:310-321, 2019. doi: 0.1016/j.ymssp.2018.06.056.
[7] L.D. Viet and Y. Park. A cable-passive damper system for sway and skew motion control of a crane spreader. Shock and Vibration, 2015:507549, 2015. doi: 10.1155/2015/507549.
[8] L.D. Viet. Crane sway reduction using Coriolis force produced by radial spring and damper. Journal of Mechanical Science and Technology, 29(3):973-979, 2015. doi: 10.1007/s12206-015-0211-1.
[9] J. Vaughan, E. Maleki, and W. Singhose. Advantages of using command shaping over feedback for crane control. Proceedings of the 2010 American Control Conference, pages 2308-2313, 2010. doi: 10.1109/ACC.2010.5530548.
[10] J. Vaughan, A. Yano, and W. Singhose. Comparison of robust input shapers. Journal of Sound and Vibration, 315(4-5):797–815, 2008. doi: 10.1016/j.jsv.2008.02.032.
[11] W. Singhose. Command shaping for flexible systems: A review of the first 50 years. International Journal of Precision Engineering and Manufacturing, 10(4):153-168, 2009. doi: 10.1007/s12541-009-0084-2.
[12] J. Lawrence and W. Singhose. Command shaping slewing motions for tower cranes. Journal of Vibration and Acoustics, 132(1):011002, 2010. doi: 10.1115/1.3025845.
[13] D. Blackburn, W. Singhose, J. Kitchen, V. Patrangenaru, J. Lawrence, K. Tatsuaki, and A. Taura. Command shaping for nonlinear crane dynamics. Journal of Vibration and Control, 16(4):477-501, 2010. doi: 10.1177/1077546309106142.
[14] J. Huang, E. Maleki, and W. Singhose. Dynamics and swing control of mobile boom cranes subject to wind disturbances, IET Control Theory and Applications, 7(9):1187–1195, 2013. doi: 10.1049/iet-cta.2012.0957.
[15] R. Schmidt, N. Barry, and J. Vaughan. Tracking of a target payload via a combination of input shaping and feedback control. IFAC-PapersOnLine, 48(12):141-146, 2015. doi: 10.1016/j.ifacol.2015.09.367.
[16] N.D. Anh, H. Matsuhisa, L.D. Viet, and M. Yasuda. Vibration control of an inverted pendulum type structure by passive mass-spring-pendulum dynamic vibration absorber. Journal of Sound and Vibration, 307(1-2):187-201, 2007. doi: 10.1016/j.jsv.2007.06.060.
[17] Function Bay Inc., http://www.functionbay.co.kr/, last checked 27 May 2020.
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Authors and Affiliations

Trong Kien Nguyen
1

  1. Faculty of Civil Engineering, Vinh University, Vinh City, Nghe An, Vietnam
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Abstract

Modern and innovative road spreaders are now equipped with a special swiveling mechanism of the spreading disc. It allows for adjusting a symmetrical or asymmetrical spreading pattern and provides for the possibility to maintain the size of the spreading surface and achieve an accurately defined spreading pattern with spreading widths. Thus the paper presents a modelling and control design methodology, and the concept is proposed to design high-performance and optimal drive systems for spreading devices. The paper deals with a nonlinear model of an electric linear actuator and solution of the new intelligent/optimal control problem for the actuator.

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Authors and Affiliations

D. Dobrowolski
J. Dobrowolski
W. Piekarska
S. Stępień
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Abstract

The dynamics of the turning process of a thin-walled cylinder in manufacturing is modeled using flexible multibody system theory. The obtained model is time varying due to workpiece rotation and tool feed and retarded, due to repeated cutting of the same surface. Instabilities can occur due to these consecutive cuts that must be avoided in practical application because of the detrimental effects on workpiece, tool and possibly the machine. Neglecting the small feed, the stability of the resulting periodic system with time-delay can be analyzed using the semi-discretization method. The use of an adaptronic tool holder comprising actuators and sensors to improve the dynamic stability is then investigated. Different control concepts, two collocated and two model-based, are implemented in simulation and tuned to increase the domain of stable cutting. Cutting of a moderately thin workpiece exhibits instabilities mainly due to tool vibration. In this case, the stability boundary can be significantly improved. When the instability is due to workpiece vibration, the collocated concepts fail completely. Model based concepts can still obtain some improvements, but are sensitive to modeling errors in the coupling of workpiece and tool.

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Authors and Affiliations

Achim Fischer
Peter Eberhard
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Abstract

In this paper, the issue related to control of the plant with nonconstant parameters is addressed. In order to assure the unchanged response of the system, an adaptive state feedback speed controller for permanent magnet synchronous motor is proposed. The model-reference adaptive system is applied while the Widrow-Hoff rule is used as adjustment mechanism of controller’s coefficients. Necessary modifications related to construction of the cost function and formulas responsible for adjustment of state feedback speed controller’s coefficients are depicted. The impact of adaptation gain, which is the only parameter in proposed adjustment mechanism, on system behaviour is experimentally examined. The discussion about computational resources consumption of the proposed adaptation algorithm and implementation issues is included. The proposed approach is utilized in numerous experimental tests on modern SiC based drive with nonconstant moment of inertia. Comparison between adaptive and nonadaptive control schemes is also shown.

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Authors and Affiliations

R. Szczepanski
T. Tarczewski
L.M. Grzesiak
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Abstract

The paper presents a study of a possible application of structure embedded piezoelectric actuators to enhance the performance of a rotating composite beam exhibiting the coupled flexural-flexural vibrations. The discussed transversal and lateral bending modal coupling results from the directional properties of the beam's laminate and ply stacking distribution. The mathematical model of the beam is based on an assumption of cross-sectional non-deformability and it incorporates a number of non-classical effects. The final 1-D governing equations of an active composite beam include both orthotropic properties of the laminate and transversely isotropic properties of piezoelectric layers. The system's control capabilities resulting from embedded Macro Fiber Composite piezoelectric actuators are represented by the boundary bending moment. To enhance the dynamic properties of the composite specimen under consideration a combination of linear proportional control strategies has been used. Comparison studies have been performed, including the impact on modal coupling magnitude and cross-over frequency shift.
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Authors and Affiliations

Marcin Bocheński
Jarosław Latalski
Jerzy Warmiński
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Abstract

This paper presents an adaptive particle swarm optimization (APSO) based LQR controller for optimal tuning of state feedback controller gains for a class of under actuated system (Inverted pendulum). Normally, the weights of LQR controller are chosen based on trial and error approach to obtain the optimum controller gains, but it is often cumbersome and tedious to tune the controller gains via trial and error method. To address this problem, an intelligent approach employing adaptive PSO (APSO) for optimum tuning of LQR is proposed. In this approach, an adaptive inertia weight factor (AIWF), which adjusts the inertia weight according to the success rate of the particles, is employed to not only speed up the search process but also to increase the accuracy of the algorithm towards obtaining the optimum controller gain. The performance of the proposed approach is tested on a bench mark inverted pendulum system, and the experimental results of APSO are compared with that of the conventional PSO and GA. Experimental results prove that the proposed algorithm remarkably improves the convergence speed and precision of PSO in obtaining the robust trajectory tracking of inverted pendulum.
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Authors and Affiliations

Jovitha Jerome
Kumar E. Vinodh
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Abstract

In this paper we deal with the problem of uniform exponential stabilization for a class of distributed bilinear parabolic systems with time delay in a Hilbert space by means of a bounded feedback control. The uniform exponential stabilization problem of such a system reduces to stabilizing only its projection on a suitable finite dimensional subspace. Furthermore, the stabilizing feedback control depends only on the state projection on the finite dimensional subspace. An explicit decay rate estimate of the stabilized state is given provided that a nonstandard weaker observability condition is satisfied. Illustrative examples for partial functional differential equations are displayed.
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Authors and Affiliations

Azzeddine Tsouli
1
Mostafa Ouarit
2

  1. Laboratory of Mathematics and Applications, ENSAM, Hassan II University of Casablanca, Morocco
  2. Laboratory of Fundamental and Applied Mathematics LAMFA, Faculty of Sciences Ain Chock, Hassan II University of Casablanca, Morocco
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Abstract

An active inerter-based suspension with acceleration feedback control is proposed in this paper, the time delay generated in the controllers and actuators is considered, which constitutes the time-delayed active inerter-based (TDA-IB) suspension. The dynamic equation of the TDA-IB suspension is established and is a neutral type of delay differential equation (NDDE) in which the time delay exists in the highest-order derivative. The stability analysis is conducted by calculating the number of unstable characteristic roots based on the definite integral stability method, the stable and unstable regions are determined. The effect of time delay and feedback gain on the dynamic performance of the TDA-IB suspension under harmonic, random, and shock excitations is studied in detail and compared with the parallel-connected inerter-based (PC-IB) and traditional suspensions. The results show that the TDA-IB suspension is asymptotically stable for smaller feedback gain and time delay, through increasing the feedback gain, the stable regions shrink, and a smaller time delay could cause the system to become unstable. Furthermore, the time delay could regulate the resonance peak around the unsprung mass natural frequency and generate multiple high-frequency resonance peaks. If the time delay is chosen appropriately and falls into the stable range, the TDA-IB suspension could improve the dynamic performance for the suspension stroke and dynamic tire load while having a deterioration for the vehicle body acceleration compared with the PC-IB and traditional suspensions.
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Authors and Affiliations

Yong Wang
1 2 3
ORCID: ORCID
Xian-Yu Jin
1
Yun-Shun Zhang
1
Hu Ding
4
Li-Qun Chen
4

  1. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China
  2. Vehicle Measurement, Control and Safety Key Laboratory of Sichuan Province, Xihua University, Chengdu 610039, China
  3. Provincial Engineering Research Center for New Energy Vehicle Intelligent Control and Simulation Test Technology of Sichuan, Xihua University, Chengdu 610039, China
  4. School of Mechanics and Engineering Science, Shanghai University, Shanghai 200444, China

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